TW201912974A - Rolling-friction type harmonic speed reducer includes a wave generator, a flexible wheel and an outer annular wheel, and capable of achieving effects of outputting in a reduced speed with medium torque or low torque - Google Patents

Abstract

A rolling-friction type harmonic speed reducer mainly includes: a wave generator, having an oval-shaped contour; a flexible wheel, having an output end and an opened annular wall connected to the output end, wherein an outer circumference of the opened annular wall is formed with an outer rolling zone which is in a annular status, the outer rolling zone has an annular outer thread arranged adjacent to an end edge and an annular outer curved surface arranged adjacent to the annular outer thread; and an outer annular wheel, having one end disposed with an accommodation hole inwardly extended in an axial direction, wherein an inner circumference of the accommodation hole is formed with an inner rolling zone, the inner rolling zone has an annular inner thread arranged adjacent to an end edge and an annular inner curved surface arranged adjacent to the annular inner thread; the wave generator is mounted on the opened annular wall of the flexible wheel, the contour of the wave generator is abutted against an inner circumference of the opened annular wall at a location corresponding to the outer rolling zone, so that the outer rolling zone of the flexible wheel can be deformed for being formed in the oval-shaped contour, the flexible wheel is disposed in the accommodation hole of the outer annular wheel, and the outer rolling zone of the flexible wheel is abutted against the inner rolling zone of the outer annular wheel, so that a part of the annular outer thread is engaged with a part of the annular inner thread, and a part of the annular outer curved surface is abutted against a part of the annular inner curved surface; accordingly, effects of outputting in a reduced speed with medium torque or low torque, lowering production cost, being easy to be processed and wearing assistance can be achieved.

Description

Rolling wiper harmonic reducer

The present invention relates to a harmonic reducer, and more particularly to a rolling wiper type harmonic reducer.

According to the conventional harmonic reducer 1, as shown in the first to third figures, it is mainly composed of three components, namely a Wave Generator, a Flex Spline, and An outer ring wheel 4 (Circular Spline), the wave generator 2 has an elliptical shape for inputting a rotational power, the open side of the flexible wheel 3 is a thin wall which is elastically deformable, and the outer peripheral mask has an annular outer tooth 5, which The outer ring wheel 4 has an annular inner tooth 6 on the inner circumference of the mask, and the wave generator 2 is inserted into the flexible wheel 3, so that the open side of the flexible wheel 3 is deformed according to the shape of the wave generator 2 Elliptical, and then the flexible wheel 3 is placed in the outer ring wheel 4, so that the partial annular external teeth 5 of the flexible wheel 3 mesh with the partial annular internal teeth 6 of the outer ring wheel 4, when the wave generator 2 starts to rotate Since the annular outer teeth 5 of the flexible wheel 3 and the annular inner teeth 6 of the outer ring wheel 4 have a difference in the number of teeth, that is, when the number of teeth of the annular outer teeth 5 of the flexible wheel 3 is smaller than the number of teeth of the annular inner teeth 6 of the outer ring wheel 4, It can achieve the effect of high torque and deceleration output. Because its deceleration principle is a well-known skill, it is not necessary to repeat it here. However, the above-described conventional harmonic reducer 1 has the advantages of simple structure, small backlash, light weight, small volume, high torque load output, and high precision. However, because of the need for high torque output, the material of the flexible wheel 3 and the outer ring wheel 4 is made of a special steel with extremely high fatigue resistance, but as a result, the whole Manufacturing costs will increase a lot. Moreover, due to its high precision demand, the width of the annular outer teeth 5 of the flexible wheel 3 and the width of the annular inner teeth 6 of the outer ring wheel 4 require a certain width to provide a high-precision transmission, but such a However, it also causes difficulty in processing and the wear of the annular outer teeth 5 of the flexible wheel 3 and the annular inner teeth 6 of the outer ring wheel 4 are prone to wear. Here, when the conventional harmonic reducer does not need to be used in the case of high-torque load output and high-precision transmission, there are problems such as increased manufacturing cost, difficulty in processing, and wear and tear.

In view of the above, in order to improve the prior art, the conventional harmonic reducer has the problems of high manufacturing cost, difficulty in processing, and easy wear and tear; thus, the present invention provides a rolling rubbing type harmonic reducer, which mainly includes a wave generator having an elliptical outer shape; a flexible wheel having an output end and an open ring wall connected to the output end, the outer peripheral surface of the open ring wall having an annular outer rolling zone, The outer rolling zone has an annular outer tooth adjacent to the end edge and an annular outer curved surface adjacent to the annular outer tooth; and an outer ring wheel extending axially inwardly at one end, the inner circumference of the receiving hole The surface has an inner rolling zone having an annular inner tooth adjacent to the end edge and an annular inner curved surface adjoining the annular inner tooth; the wave generator is inserted into the flexible wheel In the annular wall, the outer contour of the wave generator abuts against the inner circumferential surface of the open annular wall corresponding to the position of the outer rolling zone, so that the rolling zone outside the flexible wheel is deformed into an elliptical outer contour, the flexible wheel Is placed in the receiving hole of the outer ring wheel, and the rolling zone outside the flexible wheel abuts The inner annular rolling wheel of the outer ring wheel is meshed with the partial annular outer teeth and the partial annular outer curved surface is abutted with the partial annular inner curved surface; thereby achieving the medium torque to reduce the output and reduce Manufacturing costs, easy processing and not easy to wear and other effects. The present invention further provides another roll-on friction type harmonic reducer, which mainly comprises: a wave generator having an elliptical profile; a flexible wheel having an output end and an open ring wall connected to the output end The outer circumferential surface of the open annular wall has an annular outer rolling zone, wherein the outer rolling zone is a continuous annular outer curved surface; and an outer ring wheel has an receiving hole extending axially inwardly at one end, the receiving hole The inner circumferential surface has an inner rolling zone, and the inner rolling zone is a continuous annular inner curved surface; the wave generator is inserted into the open annular wall of the flexible wheel, and the wave generator abuts The rolling zone outside the flexible wheel is deformed into an elliptical outer contour on the inner circumferential surface of the open annular wall corresponding to the position of the outer rolling zone, and the flexible wheel is placed in the receiving hole of the outer ring wheel. The rolling zone outside the flexible wheel abuts on the rolling zone of the outer ring wheel; thereby achieving low torque deceleration output, reducing manufacturing cost, easy processing and less wear and tear.

In order to enable the reviewing committee to have a better understanding and recognition of the features and characteristics of the present invention, the following embodiments are illustrated and described below with reference to the drawings: Please refer to the fourth to sixth figures, which are the first comparison of the present invention. A preferred embodiment of the present invention provides a rolling wiper type harmonic reducer 100, which mainly comprises a wave generator 10, a flexible wheel 20 and an outer ring wheel 30, wherein: see the fourth to sixth figures, the wave The generator 10 has an elliptical profile for inputting rotational power. Referring to the fourth to sixth figures, the flexible wheel 20 has an output end 21 and an open annular wall 22 extending integrally from the periphery of the output end 21 in an axial direction. The open annular wall 22 is adjacent to the free end. The outer peripheral surface of the rim has an annular outer rolling zone 221 having an annular outer tooth 222 adjacent to the free end edge and an annular outer curved surface 223 adjacent to the annular outer tooth 222. The annular outer curved surface 223 is a continuous curved surface without protrusions and depressions. Referring to the fourth to sixth embodiments, the outer ring wheel 30 has a ring seat 31 and a ring body 32. One end of the ring seat 31 extends axially inwardly and has a receiving hole 311 and a hole located in the periphery of the receiving hole 311. a concave recessed area 312 having an annular inner curved surface 313 adjacent to the inner peripheral surface of the recessed area 312, the annular inner curved surface 313 being a curved surface without continuous protrusions and depressions, the ring body 32 being A plurality of screws 33 are locked in the recessed area 312 of the ring seat 31. The inner peripheral surface of the ring body 32 has an annular inner tooth 321 to form a ring from the annular inner tooth 321 and the annular inner curved surface 313. The inner rolling zone 34. The wave generator 10 is inserted into the open annular wall 22 of the flexible wheel 20, and the wave generator 10 has an outer contour and abuts against the inner circumferential surface of the open annular wall 22 corresponding to the position of the outer rolling zone 221 The rolling zone 221 of the outer ring wheel 20 is deformed into an elliptical outer shape, and the flexible wheel 20 is disposed in the receiving hole 311 of the outer ring wheel 30, and the rolling zone 221 outside the flexible wheel 20 And abutting on the inner rolling zone 34 of the outer ring wheel 30, that is, the partial annular outer teeth 222 mesh with the partial annular inner teeth 321 , and the partial annular outer curved surface 223 is in contact with the partial annular inner curved surface 313. Pick up. Therefore, the above is the introduction of the components of the rolling and rubbing type harmonic reducer 100 and the assembly method thereof according to the first preferred embodiment of the present invention, and then the use characteristics thereof are as follows: First, please refer to the seventh figure. As shown in Fig. 16, when a rotational power is input from the wave generator 10, the two opposite high points of the elliptical wave generator 10 are in the open annular wall 22 of the outer rolling zone 221 of the flexible wheel 20. The pre-pressure applied by the rolling zone 34 in the circumferential surface and the outer ring wheel, and the two opposite high points of the elliptical wave generator 10 are pressed against the inner circumference of the open annular wall 22 at the position of the outer rolling zone 221 of the deflection wheel 20. When the surface is continuously rolled, the rolling zone 221 outside the flexible wheel 20 is deformed into an elliptical shape as the wave generator 10 rolls, and the rolling zone 34 can be transformed within the outer ring wheel 30. The abutting position is reversely rolled and rotated to be decelerated by the output end 21. Therefore, in the present embodiment, only the portion of the rolling zone 221 outside the flexible wheel 20 is an annular external tooth 222, and only the inner rolling zone 34 of the outer ring wheel 30 is a ring-shaped internal tooth. Therefore, the torque of the meshing transmission between the two is not large, which not only allows the invention to be applied to devices and mechanisms that do not need to output too much torque, but also allows the ring seat 31 of the deflection wheel 20 and the outer ring wheel 30 to be resistant. Steels with lower fatigue strength or even engineering plastics can reduce the cost of manufacturing. In addition, since the flexure wheel 20 abuts the outer ring wheel 30 and the inner rolling zone 34, the area and width of the annular outer curved surface 223 contacting the annular inner curved surface 313 are larger than the annular shape. The area and width of the outer teeth 222 in contact with the annular inner teeth 321 (i.e., in the outer rolling zone 221, the area ratio of the annular outer curved surface 223 is greater than the area ratio of the outer annular teeth 222, and In the rolling zone 34, the area ratio of the annular inner curved surface 313 is larger than the area ratio of the annular inner tooth 321), and the inner circumferential surface of the outer rolling element 221 of the flexible wheel 20 is located at the outer circumferential surface of the annular outer tooth 222. The inner peripheral surface of the annular outer surface 223 is slightly larger than the inner peripheral surface of the annular outer curved surface 223, so that the force (pre-pressure) of the rolling transmission is mostly applied to the annular outer curved surface 223 and its inner peripheral surface and the annular shape. Between the curved surfaces 313, the force of the annular outer teeth 222 and the annular inner teeth 321 are reduced, thereby achieving the effect of reducing wear. Furthermore, in the present embodiment, the annular outer curved surface 223 and the annular inner curved surface 313 are respectively provided in the outer rolling zone 221 and the inner rolling zone 34 for rolling transmission, so that the width of the annular outer teeth 222 of the flexible wheel 20 is The width of the annular inner teeth 321 of the outer ring wheel 30 can be shorter than that of the conventional harmonic reducer to achieve the effect of easy processing. Therefore, the present invention is highly suitable for use in a device, mechanism, robot arm or robot with a medium torsional or low torque output. Referring to FIG. 17, a second embodiment of the present invention provides a rolling wiper type harmonic reducer 200, which comprises a wave generator 40, a flexible wheel 50 and a same as the previous embodiment. The outer ring wheel 60 is the main difference: in the embodiment, the outer ring wheel 60 is integrally formed, that is, the annular inner curved surface 613 and the annular inner tooth 621 of the inner rolling zone 64 are formed in the receiving hole. 611 inside the inner wall of the hole. Although the outer ring 60 of the present embodiment is slightly different from the outer ring of the foregoing embodiment, it can achieve the same effect. Referring to FIG. 18 and FIG. 19, a third embodiment of the present invention provides a rolling wiper type harmonic reducer 300, which includes a wave generator 70 and a same as the previous embodiment. The main difference between the flexing wheel 80 and the outer ring wheel 90 is that: in the embodiment, only the annular outer curved surface 823 is provided on the rolling area 821 of the flexible wheel 80, and no annular outer teeth are required. Only the annular inner curved surface 913 is provided on the inner rolling zone 94 of the outer ring wheel 90, and no annular inner teeth are required. Although the present embodiment does not provide the annular outer teeth to engage the annular inner teeth, since the present invention does not require a large torque output, only the annular outer curved surface 823 of the outer rolling zone 821 and the annular inner curved surface 913 of the inner rolling zone 94 are performed. In the rolling transmission, the circumferential length of the rolling zone 94 in the outer ring wheel 90 is larger than the circumference of the rolling zone 821 outside the deflection wheel 80 by a predetermined length, that is, the low torque output can be decelerated, and can be applied to The device, mechanism and equipment of the high-precision reduction transmission are not required, thereby achieving the object and effect of the present invention. The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all of the related art in the art according to the present invention are equivalent to the present invention. The scope of coverage.

"Knowledge"

1‧‧‧harmonic reducer

2‧‧•wave generator

3‧‧‧Flexing wheel

4‧‧‧ outer ring wheel

5‧‧‧Round external teeth

6‧‧‧Ring internal teeth

"First preferred embodiment of the present invention"

100‧‧‧Rolling wiper harmonic reducer

10‧‧‧wave generator

20‧‧‧Flexing wheel

21‧‧‧ Output

22‧‧‧Opening the wall

221‧‧‧External rolling zone

222‧‧‧Circular external teeth

223‧‧‧Circular outer surface

30‧‧‧Outer Ring Wheel

31‧‧‧ ring seat

311‧‧‧ 容孔

313‧‧‧Circular inner surface

312‧‧‧ recessed area

32‧‧‧Act

321‧‧‧Ring internal teeth

33‧‧‧ screws

34‧‧‧Inward rolling zone

"Second preferred embodiment of the present invention"

200‧‧‧Rolling friction harmonic reducer

40‧‧‧wave generator

50‧‧‧

60‧‧‧ outer ring wheel

64‧‧‧Inward rolling zone

613‧‧‧Circular inner surface

621‧‧‧Ring internal teeth

611‧‧‧ accommodating holes

"The third preferred embodiment of the present invention"

300‧‧‧Rolling friction harmonic reducer

70‧‧‧wave generator

80‧‧‧

821‧‧‧External rolling zone

823‧‧‧Circular outer surface

90‧‧‧ outer ring wheel

94‧‧‧Inward rolling zone

913‧‧‧Circular inner surface

The first figure is a perspective exploded view of a harmonic reducer. The second figure is a three-dimensional combination diagram of the conventional harmonic reducer shown in the first figure. The third figure is a front view of the conventional harmonic reducer shown in the first figure. The fourth figure is an exploded perspective view of a first preferred embodiment of the present invention. The fifth drawing is a perspective assembled view of the embodiment shown in the fourth figure. The sixth drawing is a combined cross-sectional view and a partial enlarged view of the embodiment shown in the fourth figure. 7 to 16 are schematic views of the operation of the embodiment shown in the fourth figure. Figure 17 is a perspective exploded view of a second preferred embodiment of the present invention. Figure 18 is a perspective exploded view of a third preferred embodiment of the present invention. Figure 19 is a combined cross-sectional view and a partial enlarged view of the embodiment shown in Figure 18.

Claims (10)

A rolling friction type harmonic reducer mainly comprises: a wave generator having an elliptical outer shape; a flexible wheel having an output end and an open ring wall connected to the output end, the open ring wall The outer peripheral surface has an annular outer rolling zone, the outer rolling zone has an annular outer tooth adjacent to the end edge and an annular outer curved surface adjacent to the annular outer tooth; an outer ring wheel, one end of which is axially oriented An inner receiving portion has an inner rolling portion, and the inner rolling portion has an inner rolling portion adjacent to the end edge and an annular inner curved surface adjacent to the annular inner tooth. The wave generator is inserted into the open annular wall of the flexible wheel, and the outer contour of the wave generator abuts against the inner circumferential surface of the open annular wall corresponding to the position of the outer rolling zone, so that the outer wave is outside the flexible wheel The rolling zone is deformed into an elliptical outer shape, and the flexible wheel is placed in the receiving hole of the outer ring wheel, and the rolling zone outside the flexible wheel abuts on the rolling zone of the outer ring wheel, The local annular outer teeth are meshed with the local annular inner teeth, and the partial annular outer curved surface is combined with the partial annular inner curved surface. Abut. The rolling friction type harmonic reducer according to claim 1, wherein the open ring wall of the flexible wheel is integrally extended from the peripheral edge of the output end. The rolling friction type harmonic reducer according to claim 1, wherein the outer ring wheel has a ring seat and a ring body, and the receiving hole is formed by extending axially inward from one end of the ring seat. The annular seat is recessed inwardly on the periphery of the receiving hole, and the annular inner curved surface is located on the inner circumferential surface of the receiving hole adjacent to the recessed area, and the ring system is locked in the recessed area of the ring seat. The annular internal tooth system is located on the inner circumferential surface of the ring body. The rolling wiper type harmonic reducer according to claim 1, wherein the outer ring gear is integrally formed. The rolling friction type harmonic reducer according to claim 1, wherein, in the rolling zone other than the flexible wheel, the area ratio of the annular outer curved surface is larger than the area ratio of the outer annular tooth; In the inner rolling zone of the outer ring wheel, the area ratio of the annular inner curved surface is larger than the area ratio of the inner annular tooth. The rolling friction type harmonic reducer according to claim 1, wherein in the rolling zone other than the flexible wheel, the inner circumferential surface of the annular outer tooth is slightly larger than the annular outer curved surface. The aperture of the circumference. The rolling friction type harmonic reducer according to claim 1, wherein the annular outer curved surface of the flexible wheel is a continuous curved surface without protrusions and depressions; the annular inner curved surface of the outer ring wheel is continuous and convex. The surface of the groove and the depression. A rolling friction type harmonic reducer mainly comprises: a wave generator having an elliptical outer shape; a flexible wheel having an output end and an open ring wall connected to the output end, the open ring wall The outer peripheral surface has an annular outer rolling zone, and the outer rolling zone is a continuous annular outer curved surface; and an outer ring wheel has one end axially extending inwardly, and a receiving hole, the inner circumferential surface of the receiving hole The utility model has an inner rolling zone, wherein the inner rolling zone is a continuous annular inner curved surface; the wave generator is inserted into the open annular wall of the flexible wheel, and the outer edge of the wave generator abuts against the corresponding outer rolling The inner peripheral surface of the open annular wall of the nip position causes the rolling zone outside the flexible wheel to be deformed into an elliptical outer contour, and the flexible wheel is placed in the receiving hole of the outer ring wheel, and the flexible wheel is The outer rolling zone abuts against the inner rolling zone of the outer ring wheel. According to the rolling friction type harmonic reducer of claim 8, wherein the thickness of the rolling zone adjacent to the open ring wall is thinner than the rest of the rolling zone. The rolling friction type harmonic reducer according to claim 8, wherein the annular outer curved surface of the flexible wheel is a continuous curved surface without protrusions and depressions; the annular inner curved surface of the outer ring wheel is continuous and convex. The surface of the groove and the depression.